A Novel Robotic Control System Mimics Doctor’s Operation to Assist Percutaneous Coronary Intervention

Abstract

Objectives: The use of current robotic systems to assist in percutaneous coronary intervention (PCI) fundamentally differs from performing conventional PCI. To overcome this problem, we developed a novel master-slave robotic control system to assist in PCI, and evaluated its safety and feasibility in the delivery and manipulation of coronary guidewires in vitro and in vivo . Methods: The novel robotic assist PCI system is composed of three parts: 1) a master actuator, which imitates the traditional torque used by surgeons in conventional PCI, 2) a slave actuator, including a guidewire delivery system and force monitoring equipment, and 3) a local area network based communication system. Results: The experiment was performed in six pigs. Both robotic and manual control completed the operation with no device- or procedure-associated complications. An experienced interventional cardiologist who was a first-time user of the novel robotic PCI system was able to advance the guidewire into a distal branch of a coronary artery within a similar time to that required with the manual procedure. Conclusion: This early in vivo experiment with the novel robotic assisted PCI control system demonstrated that its feasibility, safety, and procedural effectiveness are comparable to those of manual operation. The novel robotic-assisted PCI control system required significantly less time to learn than other currently available systems.